CMAC Adaptive Control of Flexible-joint Robots using Backstepping with Tuning Functions.
C. J. B. MacnabGabriele M. T. D'EleuterioMax Q.-H. MengPublished in: ICRA (2004)
Keyphrases
- nonlinear systems
- adaptive control
- control law
- control method
- controller design
- feedback control
- adaptive fuzzy
- autonomous robots
- dynamic environments
- reinforcement learning
- lyapunov function
- robotic systems
- variable structure
- adaptive controller
- mobile robot
- control algorithm
- closed loop
- chaotic systems
- autonomous control
- tracking error
- control scheme
- fuzzy logic
- multi modal
- neural network
- control theory
- robot control
- multi robot
- fuzzy control